Experiment Study of Multi-Step Predictive Control in AGV Path Tracking

摘要

Automatic guided vehicle (AGV) is a kind of wheeled mobile robot (WMR) that is used to convey material and supplies in unmanned production workshop. To finish transporting task for differential driving XAUT.AGV100 with nonholonomic constraints made by ourselves, multi-step predictive control algorithm (MSPCA) is designed and used to control AGV to track plan-path to improve the speed of path tracking and the stability of motion. It is verified that MSPCA is feasible and effective through by the theory simulation and the experiment.